阅读说明：本技术 全自动播种机 (Full-automatic seeder ) 是由 钱玮 邱劲 陈宏伟 马箭 于 2021-08-17 设计创作，主要内容包括：本发明公开了一种全自动播种机,包括：机架,其表面可活动的安装有动力输出轴；牵引驱动器,其动力输出端与所述动力输出轴传动连接；偶数个的从动驱动机构,其两两成对的布置于所述机架前后方向的外周,且所述从动驱动机构与所述动力输出轴传动连接；偶数个的播种机构,其两两成对的布置于所述机架前后方向的内侧,且所述播种机构与所述从动驱动机构传动连接；偶数个的料仓机构,其两两成对的布置于所述机架前后方向,且每组所述料仓机构位于所述播种机构的正上方,所述料仓机构与所述从动驱动机构传动连接；以及控制器,其与所述牵引驱动器电连接或无线连接。根据本发明,其自动化程度高,无需人工进行辅助,大大提高了工作效率。(The invention discloses a full-automatic seeder, comprising: the surface of the frame is movably provided with a power output shaft; the power output end of the traction driver is in transmission connection with the power output shaft; the driven driving mechanisms are pairwise arranged on the periphery of the frame in the front-back direction, and are in transmission connection with the power output shaft; the seeding mechanisms are pairwise arranged on the inner sides of the front and rear directions of the rack, and are in transmission connection with the driven driving mechanism; the bin mechanisms are arranged in pairs in the front-back direction of the rack, each group of bin mechanisms is positioned right above the sowing mechanism, and the bin mechanisms are in transmission connection with the driven driving mechanism; and a controller electrically or wirelessly connected with the traction driver. According to the invention, the automation degree is high, manual assistance is not needed, and the working efficiency is greatly improved.)

1. The utility model provides a full-automatic seeder which characterized in that includes:

a frame (11) with a power output shaft (111) movably mounted on the surface;

the power output end of the traction driver is in transmission connection with the power output shaft (111);

an even number of driven driving mechanisms (12) which are pairwise arranged on the periphery of the frame (11) in the front-back direction, and the driven driving mechanisms (12) are in transmission connection with the power output shaft (111);

an even number of sowing mechanisms (13) which are pairwise arranged at the inner side of the front-back direction of the rack (11), and the sowing mechanisms (13) are in transmission connection with the driven driving mechanism (12);

the even number of bin mechanisms (14) are arranged in pairs in the front-back direction of the rack (11), each set of bin mechanisms (14) is positioned right above the sowing mechanism (13), and the bin mechanisms (14) are in transmission connection with the driven driving mechanism (12); and

a controller electrically or wirelessly connected with the traction drive;

the controller sends a control command to the traction driver to control the traction driver to drive the power output shaft (111) to rotate, and then the seeding mechanism (13) and the stock bin mechanism (14) are synchronously driven by the driven driving mechanism (12) to perform seeding operation.

2. The fully automatic seeding machine according to claim 1, characterised in that the driven driving mechanism (12) comprises: the first driven chain wheel module (121) is rotatably arranged at the side end of the rack (11), and the first driven chain wheel module (121) is in transmission connection with the power output shaft (111);

a second driven chain wheel module (122) which is rotatably arranged at the side end of the frame (11); and

a third driven chain wheel module (123) which is rotatably arranged at the side end of the frame (11);

the first driven chain wheel module (121), the second driven chain wheel module (122) and the third driven chain wheel module (123) are in transmission connection.

3. The fully automatic seeding machine according to claim 2, characterised in that the seeding mechanism (13) comprises: the side end of the movable rod (131) is in transmission connection with the third driven chain wheel module (123) through a first eccentric wheel (132);

one end of the intermediate transmission rod (133) is hinged with the central area of the movable rod (131), and the other end of the intermediate transmission rod (133) is in transmission connection with the second driven chain wheel module (122) through the second eccentric wheel (134);

a hollow hopper (135) fixedly attached to the other end of the movable rod (131); and

the ditching module (136) is movably arranged right below the hopper (135);

the second driven chain wheel module (122) and the third driven chain wheel module (123) drive the movable rod (131) to move through the first eccentric wheel (132) and the second eccentric wheel (134), so that the ditching module (136) is controlled to carry out ditching operation through the movable rod (131).

4. The fully automatic seeding machine according to claim 3, characterised in that the ditching module (136) comprises: an opening/closing drive unit (1361); and

the opening parts (1362) are symmetrically arranged below the hopper (135), and the opening parts (1361) are in transmission connection with the opening and closing driving unit (1361);

wherein, the opening and closing driving unit (1) drives the opening and closing part (1362) to perform opening and closing movement.

5. The fully automatic seeding machine according to claim 4, characterised in that the opening and closing drive unit (1361) comprises: a drive wheel (13611) drivingly connected to the second driven sprocket module (122);

a drive rod (13612) movably mounted at the side end of the frame (11), the drive rod (13612) being in transmission connection with the drive wheel (13611), and

one end of the flexible rope (13613) is fixedly connected with the driving rod (13612), and the other end of the flexible rope (13613) is fixedly connected with the ditching piece (1362);

the periphery of the driving wheel (13611) is provided with a cam part (136111), the central area of the driving rod (13612) is provided with a driving wheel (13614), the second driven sprocket module (122) drives the driving wheel (13611) to rotate in a reciprocating manner so as to control the cam part (13611) to contact with the driving wheel (13614) in an alternating manner, and further control the driving rod (13612) and the flexible rope (13613) to drive the two opening members (1362) to perform opening and closing movement.

6. The fully automatic seeding machine according to claim 5, characterised in that the furrowing element (1362) comprises: a fixed part (13621) movably connected with the hopper (135); and

a gutter portion (13621) integrally connected to the fixing portion (13621) at an outer edge of the fixing portion (13621) and extending in a Z-axis direction from the outer edge of the fixing portion (13621);

wherein the cross section of the ditching part (13621) is conical, a connecting part (13623) is arranged on the surface of the fixing part (13621), and the connecting part (13623) is fixedly connected with the other end of the flexible rope (13613).

7. The fully automatic seeding machine according to claim 1, characterised in that the magazine mechanism (14) comprises: a support bracket (141) fixedly mounted on the top end of the frame (11);

the transmission module (142) is arranged on the surface of the support bracket (141), and the transmission module (142) is in transmission connection with the second driven chain wheel module (122);

the turntable (143) is in transmission connection with the transmission module (142);

at least two discharge bins (144), each discharge bin (144) being respectively arranged in a circumferential region of the rotating disc (143);

the top end of the support bracket (141) is provided with a discharge channel (1411), and the transmission module (142) drives each discharge bin (144) to rotate by taking a Z axis as an axis, so that the discharge end of each discharge bin (144) is sequentially communicated with the discharge channel (1411).

8. The fully automatic seeding machine according to claim 7, wherein each discharging bin (144) is provided with a material sensor and a vacant alarm, and the material sensor and the vacant alarm are electrically connected with the controller;

the controller is used for receiving sensing signals of the material sensor, when the material sensor of one of the discharging bins (144) feeds back a material vacancy signal, the controller judges that the current discharging bin (144) is in a vacancy state, and the vacancy alarm corresponding to the discharging bin (144) sends out vacancy alarm.

9. The fully automatic seeding machine according to claim 4, further comprising: the soil covering mechanisms (15) are fixedly arranged at the side end of the rack (11), and each soil covering mechanism (15) and the corresponding sowing mechanism (13) are coaxially arranged along the Y-axis direction;

the soil covering mechanism (15) includes: a support frame (151) fixedly mounted on the side end of the frame (11) along the Y-axis direction; and

at least two soil covering wheels (152), wherein each soil covering wheel (152) is symmetrically arranged at the side end of the support frame (151) along the X-axis direction;

each soil covering wheel (152) is obliquely arranged, and the central axis between the two soil covering wheels (152) and the central axis between the two ditching pieces (1362) are coaxial along the Z-axis direction.

10. A fully automatic sowing machine according to claim 9, wherein the angle α is between 10 ° and 30 ° given that the angle α between the axis of each of the covering wheels (152) and the vertical is α.

Technical Field

The invention relates to the technical field of intelligent agriculture. More particularly, the present invention relates to a fully automatic seeding machine.

Background

In the field of intelligent agriculture technology, it is known to use seeders of different structural forms to achieve efficient seeding of crops. In the process of researching and realizing high-efficiency seeding of crops, the inventor finds that the seeding machine in the prior art has at least the following problems:

the existing seeder has low automation degree, needs manual work for assistance, and has low working efficiency.

In view of the above, there is a need to develop a fully automatic seeding machine to solve the above problems.

Disclosure of Invention

Aiming at the defects in the prior art, the invention mainly aims to provide a full-automatic seeder, which drives a seeding mechanism and a stock bin mechanism to move by a driven driving mechanism through a traction driver so as to synchronously ditch and seed, has high automation degree, does not need manual assistance, greatly improves the working efficiency and has wide market application value.

To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided a fully automatic sowing machine including: the surface of the frame is movably provided with a power output shaft;

the power output end of the traction driver is in transmission connection with the power output shaft;

the driven driving mechanisms are pairwise arranged on the periphery of the frame in the front-back direction, and are in transmission connection with the power output shaft;

the seeding mechanisms are pairwise arranged on the inner sides of the front and rear directions of the rack, and are in transmission connection with the driven driving mechanism;

the bin mechanisms are arranged in pairs in the front-back direction of the rack, each group of bin mechanisms is positioned right above the sowing mechanism, and the bin mechanisms are in transmission connection with the driven driving mechanism; and

a controller electrically or wirelessly connected with the traction drive;

the controller sends a control command to the traction driver to control the traction driver to drive the power output shaft to rotate, and then the seeding mechanism and the stock bin mechanism are synchronously driven by the driven driving mechanism to perform seeding operation.

Preferably, the driven driving mechanism includes: the first driven chain wheel module is rotatably arranged at the side end of the rack and is in transmission connection with the power output shaft;

the second driven chain wheel module is rotatably arranged at the side end of the frame; and

the third driven chain wheel module is rotatably arranged at the side end of the frame;

the first driven chain wheel module, the second driven chain wheel module and the third driven chain wheel module are in transmission connection.

Preferably, the sowing mechanism includes: one end part of the movable rod is in transmission connection with the third driven chain wheel module through a first eccentric wheel;

one end of the middle transmission rod is hinged with the central area of the movable rod, and the other end of the middle transmission rod is in transmission connection with the second driven chain wheel module through the second eccentric wheel;

a hopper which is hollow inside and is fixedly arranged at the other end part of the movable rod; and

the ditching module is movably arranged right below the hopper;

the second driven chain wheel module and the third driven chain wheel module drive the movable rod to move through the first eccentric wheel and the second eccentric wheel, so that the ditching module is controlled to carry out ditching operation through the movable rod.

Preferably, the trenching module comprises: an opening and closing drive unit; and

the two ditching pieces are symmetrically arranged below the hopper and are in transmission connection with the opening and closing driving unit;

the opening and closing driving unit drives the opening component to perform opening and closing movement.

Preferably, the opening and closing driving unit includes: the driving wheel is in transmission connection with the second driven chain wheel module;

a drive rod movably mounted at the side end of the frame, the drive rod being in transmission connection with the drive wheel, and

one end of the flexible rope is fixedly connected with the driving rod, and the other end of the flexible rope is fixedly connected with the ditching piece;

the periphery of the driving wheel is provided with a cam part, the central area of the driving rod is provided with a driving wheel, and the second driven chain wheel module drives the driving wheel to rotate in a reciprocating mode so as to control the cam part to be in alternate contact with the driving wheel and further control the driving rod and the flexible rope to drive the two opening members to perform opening and closing movement.

Preferably, the opening member includes: the fixing part is movably connected with the hopper; and

a groove portion integrally coupled to the fixing portion at an outer edge of the fixing portion and extending from the outer edge of the fixing portion in a Z-axis direction;

the cross section of the ditching portion is conical, a connecting portion is arranged on the surface of the fixing portion, and the connecting portion is fixedly connected with the other end of the flexible rope.

Preferably, the bin mechanism includes: the supporting bracket is fixedly arranged at the top end of the rack;

the transmission module is arranged on the surface of the support bracket and is in transmission connection with the second driven chain wheel module;

the rotary table is in transmission connection with the transmission module;

the discharging bins are respectively arranged in the circumferential area of the turntable;

the top end of the supporting bracket is provided with a discharge channel, and the transmission module drives each discharge bin to rotate by taking a Z axis as an axis, so that the discharge end of each discharge bin is sequentially communicated with the discharge channel.

Preferably, a material sensor and an idle alarm are arranged in each discharging bin, and the material sensor and the idle alarm are electrically connected with the controller;

the controller is used for receiving a sensing signal of the material sensor, when the material sensor of one of the discharging bins feeds back a material idle signal, the controller judges that the current discharging bin is in an idle state, and the idle alarm corresponding to the discharging bin sends an idle alarm.

Preferably, the method further comprises the following steps: each group of earthing mechanisms is fixedly arranged at the side end of the rack, and each group of earthing mechanisms and the corresponding group of sowing mechanisms are coaxially arranged along the Y-axis direction;

earthing mechanism includes: the supporting frame is fixedly arranged at the side end of the rack along the Y-axis direction; and

the soil covering wheels are symmetrically arranged at the side end of the support frame along the X-axis direction;

each soil covering wheel is obliquely arranged, and a central axis between the two soil covering wheels is coaxial with a central axis between the two ditching pieces along the Z-axis direction.

Preferably, assuming that the included angle between the axis of each soil covering wheel and the vertical direction is alpha, the included angle alpha is 10-30 degrees.

One of the above technical solutions has the following advantages or beneficial effects: the invention drives the seeding mechanism and the stock bin mechanism to move by the traction driver through the driven driving mechanism, so as to synchronously ditch and seed, has high automation degree, does not need manual assistance, greatly improves the working efficiency and has wide market application value.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings of the embodiments will be briefly described below, and it is apparent that the drawings in the following description relate only to some embodiments of the present invention and are not limiting thereof, wherein:

fig. 1 is a three-dimensional structural view of a fully automatic sowing machine according to an embodiment of the present invention;

FIG. 2 is a side view of a fully automated seed planting apparatus according to one embodiment of the present invention;

fig. 3 is a three-dimensional structural view of a driven driving mechanism and a sowing mechanism in the fully automatic sowing machine according to one embodiment of the present invention;

fig. 4 is a three-dimensional structural view of another view of a driven driving mechanism and a sowing mechanism in the fully automatic sowing machine according to one embodiment of the present invention;

fig. 5 is a three-dimensional structural view of a bin mechanism in the fully automatic sowing machine according to one embodiment of the present invention; .

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In the drawings, the shape and size may be exaggerated for clarity, and the same reference numerals will be used throughout the drawings to designate the same or similar components.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a," "an," or "the" and similar referents do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprise" or "comprises", and the like, means that the element or item listed before "comprises" or "comprising" covers the element or item listed after "comprising" or "comprises" and its equivalents, and does not exclude other elements or items. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

In the following description, terms such as center, thickness, height, length, front, back, rear, left, right, top, bottom, upper, lower, etc., are defined with respect to the configurations shown in the respective drawings, and in particular, "height" corresponds to a dimension from top to bottom, "width" corresponds to a dimension from left to right, "depth" corresponds to a dimension from front to rear, which are relative concepts, and thus may be varied accordingly depending on the position in which it is used, and thus these or other orientations should not be construed as limiting terms.

Terms concerning attachments, coupling and the like (e.g., "connected" and "attached") refer to a relationship wherein structures are secured or attached, either directly or indirectly, to one another through intervening structures, as well as both movable or rigid attachments, unless expressly described otherwise.

According to an embodiment of the present invention, as shown in fig. 1 to 5, it can be seen that the fully automatic seeding machine includes: a frame 11, a power output shaft 111 is movably arranged on the surface of the frame;

the power output end of the traction driver is in transmission connection with the power output shaft 111;

an even number of driven driving mechanisms 12, which are arranged on the periphery of the frame 11 in pairs in the front-rear direction, and the driven driving mechanisms 12 are in transmission connection with the power output shaft 111;

an even number of sowing mechanisms 13, which are arranged in pairs at the inner side of the frame 11 in the front-back direction, and the sowing mechanisms 13 are in transmission connection with the driven driving mechanism 12;

an even number of bin mechanisms 14, which are pairwise arranged in the front-back direction of the frame 11, wherein each set of bin mechanisms 14 is located right above the sowing mechanism 13, and the bin mechanisms 14 are in transmission connection with the driven driving mechanism 12; and

a controller electrically or wirelessly connected with the traction drive;

the controller sends a control command to the traction driver to control the traction driver to drive the power output shaft 111 to rotate, so that the driven driving mechanism 12 synchronously drives the seeding mechanism 13 and the stock bin mechanism 14 to perform seeding operation.

Further, the driven drive mechanism 12 includes: the first driven sprocket module 121 is rotatably mounted at the side end of the frame 11, and the first driven sprocket module 121 is in transmission connection with the power output shaft 111;

a second driven sprocket module 122 rotatably mounted at a side end of the frame 11; and

a third driven sprocket module 123 rotatably mounted to a side end of the frame 11;

the first driven sprocket module 121, the second driven sprocket module 122 and the third driven sprocket module 123 are connected in a transmission manner.

It can be understood that the power output shaft drives the first driven sprocket module 121, the second driven sprocket module 122 and the third driven sprocket module 123 to rotate synchronously.

Further, the sowing mechanism 13 includes: a movable rod 131, one end of which is in transmission connection with the third driven sprocket module 123 through a first eccentric wheel 132;

one end of the intermediate transmission rod 133 is hinged to the central region of the movable rod 131, and the other end of the intermediate transmission rod 133 is in transmission connection with the second driven sprocket module 122 through the second eccentric 134;

a hopper 135 having a hollow interior and fixedly attached to the other end of the movable rod 131; and

a ditching module 136 movably mounted right below the hopper 135;

the second driven sprocket module 122 and the third driven sprocket module 123 drive the movable rod 131 to move through the first eccentric wheel 132 and the second eccentric wheel 134, so as to control the ditching module 136 to ditch through the movable rod 131.

Further, the ditching module 136 comprises: an opening and closing drive unit 1361; and

at least two opening parts 1362, the two opening parts 1362 are symmetrically arranged below the hopper 135, and the opening parts 1361 are in transmission connection with the opening and closing drive unit 1361;

wherein, the opening and closing driving unit 1 drives the opening part 1362 to perform opening and closing movement.

Further, the opening and closing driving unit 1361 includes: a driving wheel 13611 drivingly connected to the second driven sprocket module 122;

a driving rod 13612 movably mounted at a side end of the frame 11, the driving rod 13612 being in transmission connection with the driving wheel 13611, an

A flexible rope 13613, one end of which is fixedly connected with the driving rod 13612, and the other end of the flexible rope 13613 is fixedly connected with the ditching member 1362;

the periphery of the driving wheel 13611 is provided with a cam portion 136111, the central region of the driving rod 13612 is provided with a driving wheel 13614, and the second driven sprocket module 122 drives the driving wheel 13611 to rotate in a reciprocating manner so as to control the cam portion 13611 to contact with the driving wheel 13614 alternately, and further control the driving rod 13612 and the flexible rope 13613 to drive the two opening members 1362 to perform opening and closing movements.

It can be understood that the second driven sprocket module 122 drives the driving wheel 13611 to rotate reciprocally to control the cam portion 13611 to contact with the driving wheel 13614 alternately, so as to control the driving rod 13612 to approach or depart from the driving wheel 13611 to tension the flexible rope 13613, and finally control the opening and closing of the opening members 1362, so as to facilitate the opening and sowing of the hopper 135 through the opening members 1362.

Further, the opening member 1362 includes: a fixing portion 13621 movably connected to the hopper 135; and

a groove 13621 integrally coupled to the fixing portion 13621 at an outer edge of the fixing portion 13621, the groove 13621 extending in the Z-axis direction from the outer edge of the fixing portion 13621;

wherein the cross section of the trenching part 13621 is tapered, a connecting part 13623 is arranged on the surface of the fixing part 13621, and the connecting part 13623 is fixedly connected with the other end of the flexible rope 13613.

In a preferred embodiment of the present invention, a return spring 1363 is disposed between the two opening parts 1362 to facilitate the return of the two opening parts 1362 and the subsequent opening.

Further, the bin mechanism 14 includes: a support bracket 141 fixedly attached to the top end of the frame 11;

a transmission module 142 mounted on the surface of the support bracket 141, wherein the transmission module 142 is in transmission connection with the second driven sprocket module 122;

the rotating disc 143 is in transmission connection with the transmission module 142;

at least two discharging bins 144, wherein each discharging bin 144 is respectively arranged in the circumferential region of the rotating disc 143;

a discharging channel 1411 is formed at the top end of the supporting bracket 141, and the transmission module 142 drives each discharging bin 144 to rotate around the Z-axis, so that the discharging end of each discharging bin 144 is sequentially communicated with the discharging channel 1411.

It can be understood that the second driven sprocket module 122 drives each discharging bin 144 to rotate around the Z axis through the transmission module 142, so that the discharging end of each discharging bin 144 is sequentially communicated with the discharging channel 1411, and the seeds of each discharging bin 144 are controlled to be conveyed into the hopper 135 through the discharging channel 1411, and then ditching and sowing operations are performed through the ditching member 1362.

Further, a material sensor and an idle alarm are arranged in each discharging bin 144, and the material sensor and the idle alarm are electrically connected with the controller;

the controller is configured to receive a sensing signal of the sensor, and when the sensor of one of the discharging bins 144 feeds back a material empty signal, the controller determines that the discharging bin 144 is currently in an empty state, and the empty alarm corresponding to the discharging bin 144 sends an empty alarm.

In one embodiment, the empty alarm may be a light, a sound, an image, a text, etc., and in a preferred embodiment of the present invention, the empty alarm is a sound, and the sound of the empty alarm generated by the corresponding empty alarm of each discharging bin 144 is different, so that the worker can distinguish which discharging bin 144 is empty to refill the corresponding discharging bin 144 with crop seeds.

Further, still include: at least two sets of soil covering mechanisms 15, wherein each set of soil covering mechanism 15 is fixedly arranged at the side end of the rack 11, and each set of soil covering mechanism 15 and a corresponding set of seeding mechanism 13 are coaxially arranged along the Y-axis direction;

the soil covering mechanism 15 includes: a support frame 151 fixedly attached to a side end of the frame 11 in the Y-axis direction; and

at least two soil covering wheels 152, wherein each soil covering wheel 152 is symmetrically arranged at the side end of the support frame 151 along the X-axis direction;

each soil covering wheel 152 is obliquely arranged, and a central axis between the two soil covering wheels 152 and a central axis between the two ditching pieces 1362 are coaxial along the Z-axis direction.

It can be understood that when the traction driver drives the seeding machine to move integrally, the soil covering wheel 152 is driven to rotate synchronously, and soil covering operation is performed through the soil covering wheel 152.

Further, assuming that an included angle between the axis of each soil covering wheel 152 and the vertical direction is α, the size of the included angle α is 10 ° to 30 °.

In one embodiment of the present invention, the included angle α is 10 °, in another embodiment of the present invention, the included angle α is 30 °, and in a preferred embodiment of the present invention, the included angle α is 20 °.

The specific setting of the included angle alpha can be selected by workers according to actual conditions.

The number of apparatuses and the scale of the process described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be apparent to those skilled in the art.

While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.